/**
* This file is part of ORB-SLAM.
*
* Copyright (C) 2014 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <http://webdiis.unizar.es/~raulmur/orbslam/>
*
* ORB-SLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef Map_hpp
#define Map_hpp

#include "MapPoint.hpp"
#include "KeyFrame.hpp"
#include <set>

#include<boost/thread.hpp>

namespace ORB_SLAM
{
    
    class MapPoint;
    class KeyFrame;
    
    class Map
    {
    public:
        Map();
        
        void AddKeyFrame(KeyFrame* pKF);
        void AddMapPoint(MapPoint* pMP);
        void EraseMapPoint(MapPoint* pMP);
        void EraseKeyFrame(KeyFrame* pKF);
        void SetCurrentCameraPose(cv::Mat Tcw);
        void SetReferenceKeyFrames(const std::vector<KeyFrame*> &vpKFs);
        void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
        
        std::vector<KeyFrame*> GetAllKeyFrames();
        std::vector<MapPoint*> GetAllMapPoints();
        cv::Mat GetCameraPose();
        std::vector<KeyFrame*> GetReferenceKeyFrames();
        std::vector<MapPoint*> GetReferenceMapPoints();
        
        int MapPointsInMap();
        int KeyFramesInMap();
        
        void SetFlagAfterBA();
        bool isMapUpdated();
        void ResetUpdated();
        
        unsigned int GetMaxKFid();
        
        void clear();
        
    protected:
        std::set<MapPoint*> mspMapPoints;
        std::set<KeyFrame*> mspKeyFrames;
        
        std::vector<MapPoint*> mvpReferenceMapPoints;
        
        unsigned int mnMaxKFid;
        
        boost::mutex mMutexMap;
        bool mbMapUpdated;
    };
    
} //namespace ORB_SLAM

#endif /* Map_hpp */
